Work machine

Abstract

A control device for a work machine controls a work machine on the basis of position information of a cargo tank acquired by a cargo tank position acquisition device at a position where a digging operation has been completed. A discharge start position, which is a position at which the discharge operation of the excavated object performed above the cargo tank is started, and a discharge completion position, which is a position at which the discharge operation is completed, are set side by side in the direction of the cargo tank having the front-rear direction component. The operation of at least one of the work device and the rotating body is controlled to move the control point of the work device from the release start position to the release completion position so that the control point of the work device moves from the release start position to the release completion position during the period in which the control point of the work device moves from the release start position to the release completion position. The operation of the work device is controlled so that the angle to the ground of the bucket becomes a preset discharge completion angle.

Description

Technical Field

[0001] The present invention relates to a working machine. Background Art

[0002] A working machine such as a hydraulic excavator is known, which has a swing body that can be swingably mounted on a traveling body, and a multi-jointed working device mounted on the swing body. The working device provided on the hydraulic excavator or the like has a boom that can be rotatably mounted on the swing body, a dipper arm that can be rotatably mounted on the boom, and a bucket that can be rotatably mounted on the dipper arm.

[0003] The hydraulic excavator performs a transporting action and a releasing action to load the excavated material. The transporting action is to transport the excavated material such as earth and sand excavated by the working device to the top of the cargo bucket (cargo box) of the loading machine such as a dump truck, and the releasing action is to release the excavated material into the cargo box of the dump truck.

[0004] The operator of the hydraulic excavator needs to perform loading work in a manner that does not interfere with the hydraulic excavator and the dump truck during both the transporting operation and the unloading operation, and needs to be skilled in the operation.

[0005] Patent document 1 discloses a control system for automatically performing earth-discharging operations. Patent document 1 states that "the earth-discharging control unit generates a first instruction to rotate the bucket in the earth-discharging direction until the inclination angle of the bucket reaches a specific earth-discharging completion angle when it is determined that the automatic earth-discharging control is started. The earth-discharging control unit generates a second instruction to rotate the boom in the upward direction during the period when the inclination angle of the bucket changes from the inclination angle at the start of the automatic earth-discharging control to the earth-discharging completion angle."

[0006] Prior art literature

[0007] Patent Literature

[0008] Patent Document 1: Japanese Patent Application Publication No. 2021-172972 Summary of the invention

[0009] When the technique described in Patent Document 1 is used to perform the unloading operation, the bucket rotates with its geometric center as the rotation axis to release the excavated soil and sand. For this reason, the unloading operation is performed relative to a specific portion on the cargo box of the dump truck. Therefore, when the technique described in Patent Document 1 is used, the excavated soil and sand will be released biased toward a specific portion on the cargo box of the dump truck during one loading operation. In this case, the loading amount to the cargo box may be limited, or the weight balance of the dump truck may change, which may affect the driving operation.

[0010] An object of the present invention is to provide a working machine which can release excavated materials such as earth and sand onto a tank of a loaded machine without bias in a single release operation during a loading operation onto the loaded machine.

[0011] A working machine according to one embodiment of the present invention comprises: a traveling body; a rotating body arranged to be rotatable relative to the traveling body; a working device installed on the rotating body and having a boom, an arm and a bucket; a posture detection device for detecting the postures of the rotating body and the working device; a cargo box position acquisition device for acquiring position information of a cargo box of a loaded machine, wherein the loaded machine is loaded with excavated materials excavated by the working device; and a control device for controlling the movement of the working device and the rotating body. The control device is configured to set a position where the release action of the excavated material above the cargo box starts, namely a release start position, and a position where the release action is completed, namely a release completion position, side by side in a direction having a front-rear direction component of the cargo box, based on the position information of the cargo box acquired by the cargo box position acquisition device at the position where the excavation action is completed; and based on the postures of the working device and the rotating body detected by the posture detection device, control the action of at least one of the working device and the rotating body, thereby moving the control point of the working device from the release start position to the release completion position, and controlling the action of the working device in such a way that the angle of the bucket to the ground becomes a preset release completion angle during the period when the control point of the working device moves from the release start position to the release completion position.

[0012] Effects of the Invention

[0013] According to the present invention, it is possible to provide a working machine which can release excavated materials such as earth and sand onto a tank of a loaded machine without bias in a single release operation during a loading operation on the loaded machine. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a side view of the hydraulic excavator according to the first embodiment of the present invention.

[0015] Figure 2 This is a schematic diagram of the hydraulic drive system of a hydraulic excavator.

[0016] Figure 3 This is a functional block diagram of the control device according to the first embodiment of the present invention.

[0017] Figure 4 It is a diagram showing the excavator reference coordinate system viewed from the Y-axis direction.

[0018] Figure 5 It is a diagram showing the excavator reference coordinate system viewed from the Z-axis direction.

[0019] Fig. 6AIt is a plan view of the hydraulic excavator and the machine to be loaded, and shows an example of a linear earth-moving trajectory T1 connecting the earth-moving start position P1 and the earth-moving completion position P2.

[0020] Figure 6B It is a side view of the hydraulic excavator and the machine to be loaded, and shows an example of a linear earth-moving trajectory T1 connecting the earth-moving start position P1 and the earth-moving completion position P2.

[0021] Figure 7 It is a diagram for explaining an example of bucket passing position determination processing.

[0022] Figure 8 This is a flowchart showing an example of the flow of the loading control process executed by the control device.

[0023] Fig. 9 It is a plan view of the hydraulic excavator and the machine to be loaded, showing the hydraulic excavator operating according to the transport control for side passage, and the unloading trajectory T1 used in the unloading control after the side passage.

[0024] Fig.10 It is a side view of a hydraulic excavator and a loaded machine, showing the bucket moving according to the transport control for side passage.

[0025] Fig.11 It is a plan view of the hydraulic excavator and the machine to be loaded, showing the hydraulic excavator operating according to the transport control for rear end passage and the earth dumping control after the rear end passage, and the earth dumping trajectory T1 used in the earth dumping control after the rear end passage.

[0026] Fig.12 It is a side view of a hydraulic excavator and a loaded machine, showing the bucket moving according to the transport control for the rear end to pass through and the earth discharge control after the rear end has passed through.

[0027] Fig.13 It is a plan view of a hydraulic excavator and a loaded machine according to Modification 1 of the first embodiment, showing the hydraulic excavator operating according to the transport control for rear end passage and the earth dumping control after the rear end passage, and an earth dumping trajectory T1 used in the earth dumping control after the rear end passage.

[0028] Fig.14 It is a plan view of a hydraulic excavator and a loaded machine according to a second modification of the first embodiment, showing the hydraulic excavator operating according to the transport control for rear end passage and the dumping control after the rear end passage, and the dumping trajectory T1 used in the dumping control after the rear end passage.

[0029] Fig.15 This is a functional block diagram of a control device according to a second embodiment of the present invention.

[0030] Fig.16 It is a top view of the loaded machine, and shows soil unloading start positions P1-1, P1-2, and P1-3 corresponding to the number of soil unloading operations.

[0031] Fig.17 It is a top view of the loaded machine, showing soil unloading start positions P1-1, P1-2, P1-3, P1-4 and soil unloading completion positions P2-1, P2-2, P2-3, P2-4 according to the number of soil unloading operations.

[0032] Fig.18 It is a side view of the loaded machine, and shows soil unloading completion positions P2-1, P2-2, and P2-3 corresponding to the number of soil unloading operations. DETAILED DESCRIPTION

[0033] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. In addition, an example in which the working machine is a hydraulic excavator will be described below. In the following description, when there are multiple identical components, lowercase letters are sometimes added to the end of the reference numerals, but sometimes the lowercase letters are omitted and the multiple components are collectively represented. For example, when there are two identical travel hydraulic motors 4a and 4b, they are sometimes collectively represented as the travel hydraulic motor 4.

[0034] <First embodiment>

[0035] Figure 1 FIG. 1 is a side view of a hydraulic excavator 1 according to a first embodiment of the present invention. Figure 1 As shown, the hydraulic excavator 1 of this embodiment is a backhoe excavator in which a bucket 10 is mounted rearwardly at the front end of an arm 9. The hydraulic excavator 1 performs an excavation operation of excavating an excavation target surface such as the ground, and a loading operation of loading excavated materials such as earth and sand into a bucket 201 of a loading machine 200 such as a transport vehicle. Examples of the transport vehicle include a dump truck having a wheeled travel device and a transport dump truck having a crawler travel device.

[0036] The hydraulic excavator 1 performs a transporting operation in which the upper revolving body 7 is rotated to transport the excavated material in the bucket 10 to the upper side of the loaded machine 200, and a releasing operation in which the bucket 10 is moved in the unloading direction to release the excavated material to the cargo bucket 201 of the loaded machine 200. The cargo bucket 201 has a pair of left and right side portions 2021 and 202r (see Fig. 6A ), the front side portion 202f and the rectangular bottom 203 formed by connecting the plurality of side portions 202 (202l, 202r, 202f) (see Figure 6B ) has an open upper surface. The left side portion 2021 and the right side portion 202r are arranged opposite to each other.

[0037] The rectangular bottom 203 has a straight front edge, a rear edge, a left edge, and a right edge. The front side 202f is provided in a manner of standing up from the front edge of the bottom 203, and constitutes the front end edge of the cargo bucket 201. The left side 202l is provided in a manner of standing up from the left edge of the bottom 203, and constitutes the left end edge of the cargo bucket 201. The right side 202r is provided in a manner of standing up from the right edge of the bottom 203, and constitutes the right end edge of the cargo bucket 201. On the other hand, when the cargo bucket 201 is unloaded, the rear end 205 is a portion for discharging the soil and sand loaded in the cargo bucket 201. Therefore, no side standing up from the bottom 203 is provided at the rear edge of the bottom 203. The rear edge of the bottom 203 is set as the rear end 205, which is the rear end edge of the cargo bucket 201. In addition, the end side portion of the cargo box 201 refers to a portion forming the four sides of the cargo box 201 which is rectangular in a plan view.

[0038] The hydraulic excavator 1 includes a vehicle body (machine body) 3 and a multi-jointed working device 2 mounted on the vehicle body 3. The vehicle body 3 includes a lower traveling body 5 and an upper swing body 7 that can swing relative to the lower traveling body 5. The lower traveling body 5 is driven by a right crawler driving hydraulic motor 4a (see FIG. 1 ) for driving the right crawler. Figure 2 ), and a travel hydraulic motor 4b for driving the left crawler track (refer to Figure 2 ) to travel. The upper revolving body 7 is installed on the upper part of the lower traveling body 5 via a revolving device, and is revolved by the revolving hydraulic motor 6 of the revolving device. In addition, in this embodiment, the traveling hydraulic motor 4a for driving the right track and the traveling hydraulic motor 4b for driving the left track are also collectively referred to as the traveling hydraulic motor 4.

[0039] The working device 2 mounted on the upper swing body 7 has a plurality of drive target parts (8, 9, 10) connected in a rotatable manner and a plurality of hydraulic cylinders (11, 12, 13) for driving the drive target parts. In the present embodiment, the boom 8, the arm 9, and the bucket 10, which are three drive target parts driven by the plurality of hydraulic cylinders (11, 12, 13), are connected in series.

[0040] The base end of the boom 8 is connected to the boom pin 8a (see Figure 4 ) is rotatably connected to the front part of the upper swing body 7. The base end of the arm 9 is rotatably connected to the front end of the boom 8 through the arm pin 9a. The bucket 10 is rotatably connected to the front end of the arm 9 through the bucket pin 10a. The boom pin 8a, the arm pin 9a, and the bucket pin 10a are arranged parallel to each other, and each driven object component (8, 9, 10) can rotate relative to each other in the same plane.

[0041] The boom 8 rotates in the up-and-down direction by the telescopic action of the boom cylinder 11. The arm 9 rotates in the front-and-back direction (releasing direction and retracting direction) by the telescopic action of the arm cylinder 12. The bucket 10 rotates in the front-and-back direction (unloading direction and loading direction) by the telescopic action of the bucket cylinder 13. One end side of the boom cylinder 11 is connected to the boom 8 and the other end side is connected to the frame of the upper swing body 7. One end side of the arm cylinder 12 is connected to the arm 9 and the other end side is connected to the boom 8. One end side of the bucket cylinder 13 is connected to the bucket 10 via the bucket link 16 and the other end side is connected to the arm 9.

[0042] Figure 2 1 is a schematic diagram of the hydraulic drive system 50 of the hydraulic excavator 1. Figure 2 As shown, the hydraulic drive system 50 includes an engine 103 as a prime mover mounted on the upper swing body 7, and a main pump 102 and a pilot pump 104 as hydraulic pumps driven by the engine 103. The main pump 102 and the pilot pump 104 are driven by the engine 103 to discharge hydraulic oil.

[0043] The hydraulic drive system 50 includes a flow control valve 101 for controlling the flow rate and flow direction of the working oil discharged from the main pump 102, a plurality of electromagnetic proportional valves 51 for outputting an operating pressure as an operating signal to the flow control valve 101, a control device 40 for outputting a control signal to the electromagnetic proportional valve 51, operating devices 20 and 21 which are operated by an operator and output a signal corresponding to the operating amount and the operating direction to the control device 40, and a control trigger switch 24 which outputs a loading control start instruction to the control device 40 through the operation of the operator. The operating devices 20 and 21 and the control trigger switch 24 are arranged in the cab 71 (see FIG. 1 ) provided in the upper swing body 7. Figure 1 )Inside.

[0044] The operating device 20 for operation has an operation right lever 22a for operating the boom 8 and the bucket 10, and an operation left lever 22b for operating the dipper arm 9 and the upper swing body 7. That is, the operating device 20 has the functions of a boom operating device, a bucket operating device, an arm operating device, and a swing operating device. The operating device 21 for travel has a travel operation right lever 23a for operating the right crawler, and a travel operation left lever 23b for operating the left crawler. In addition, in the present embodiment, the operation right lever 22a and the operation left lever 22b are collectively referred to as the operating lever 22, and the travel operation right lever 23a and the travel operation left lever 23b are collectively referred to as the operating lever 23. The control trigger switch 24 is provided on any one of the operating levers 22a, 22b, 23a, and 23b.

[0045] The operating system of this embodiment is an electric lever type operating system that inputs an electrical signal indicating the operating amount and operating direction from the operating device 20 to the control device 40, outputs a control signal from the control device 40 to the electromagnetic proportional valve 51, and outputs the operating pressure from the electromagnetic proportional valve 51 to the flow control valve 101.

[0046] The hydraulic excavator 1 has an operation detection device 56 that detects the operation amount and operation direction of the operation levers 22 and 23 and outputs a signal indicating the detection result to the control device 40. The operation detection device 56 has an operation amount sensor 52a that detects the arm retracting operation amount and the arm extending operation amount based on the working operation left lever 22b; an operation amount sensor 52b that detects the right swing operation amount and the left swing operation amount based on the working operation left lever 22b; an operation amount sensor 52c that detects the boom raising operation amount and the boom lowering operation amount based on the working operation right lever 22a; an operation amount sensor 52d that detects the bucket loading operation amount and the bucket unloading operation amount based on the working operation right lever 22a; an operation amount sensor 52e that detects the right crawler forward operation amount and the right crawler backward operation amount based on the travel operation right lever 23a; and an operation amount sensor 52f that detects the left crawler forward operation amount and the left crawler backward operation amount based on the travel operation left lever 23b.

[0047] The plurality of operation amount sensors 52 are, for example, rotary encoders or potentiometers that can detect the operation amounts and operation directions of the operation levers 22 and 23 .

[0048] The control device 40 of this embodiment controls the turning motion of the working mechanism 2, the traveling motion of the lower traveling structure 5, and the swing motion of the upper swing structure 7 based on the operation information (operation amount and operation direction) of the operation levers 22 and 23 generated by the operator.

[0049] Specifically, the control device 40 outputs a control signal corresponding to the operation amount and operation direction of the operating levers 22 and 23 generated by the operator to the electromagnetic proportional valve 51 (51a~51l). The electromagnetic proportional valve 51 is provided in the pilot line 100 to which the hydraulic oil is supplied from the pilot pump 104. The electromagnetic proportional valve 51 operates when a control signal from the control device 40 is input, and the primary pressure of the pilot line 100 is reduced and the generated secondary pressure is output to the flow control valve 101 as the operating pressure. The flow control valve 101 has a plurality of slide valves provided in each of a plurality of hydraulic actuators (swing hydraulic motor 6, arm cylinder 12, boom cylinder 11, bucket cylinder 13, travel hydraulic motor 4a and travel hydraulic motor 4b). When the operating pressure output by the electromagnetic proportional valve 51 is guided to the pressure receiving chamber of the slide valve, the slide valve is actuated. As a result, the working oil discharged from the main pump 102 is supplied to the corresponding hydraulic actuator through the slide valve, so that the hydraulic actuator is actuated.

[0050] The electromagnetic proportional valves 51a and 51b output the operating pressure for controlling the hydraulic oil supplied to the swing hydraulic motor 6 to the pressure receiving chamber of the slide valve for driving the swing hydraulic motor 6 of the flow control valve 101. The electromagnetic proportional valves 51c and 51d output the operating pressure for controlling the hydraulic oil supplied to the arm cylinder 12 to the pressure receiving chamber of the slide valve for driving the arm cylinder 12 of the flow control valve 101. The electromagnetic proportional valves 51e and 51f output the operating pressure for controlling the hydraulic oil supplied to the boom cylinder 11 to the pressure receiving chamber of the slide valve for driving the boom cylinder 11 of the flow control valve 101. The electromagnetic proportional valves 51g and 51h output the operating pressure for controlling the hydraulic oil supplied to the bucket cylinder 13 to the pressure receiving chamber of the slide valve for driving the bucket cylinder 13 of the flow control valve 101. The electromagnetic proportional valves 51i and 51j output the operating pressure for controlling the hydraulic oil supplied to the travel hydraulic motor 4a to the pressure receiving chamber of the slide valve for driving the travel hydraulic motor 4a of the flow control valve 101. The electromagnetic proportional valves 51 k and 51 l output an operating pressure for controlling the hydraulic oil supplied to the travel hydraulic motor 4 b to a pressure receiving chamber of a spool valve for driving the travel hydraulic motor 4 b of the flow control valve 101 .

[0051] The boom cylinder 11, the arm cylinder 12, and the bucket cylinder 13 are extended and retracted by the supplied hydraulic oil, respectively, so that the boom 8, the arm 9, and the bucket 10 are rotated. As a result, the position of the bucket 10 and the posture of the working device 2 change. The swing hydraulic motor 6 is rotated by the supplied hydraulic oil, so that the upper swing body 7 is rotated. The travel hydraulic motor 4a and the travel hydraulic motor 4b are rotated by the supplied hydraulic oil, so that the lower travel body 5 travels. In addition, even in the absence of an operation of the operating levers 22 and 23 by the operator, the electromagnetic proportional valves 51a to 511 can be operated by a control signal from the control device 40, and the flow control valve 101 can be operated, thereby driving the hydraulic actuators (4a, 4b, 6, 11, 12, 13). In this embodiment, as described later, by operating the control trigger switch 24, the control device 40 automatically controls the actions of the working device 2 and the upper swing body 7.

[0052] The hydraulic excavator 1 has a posture detection device 53 for detecting the postures of the working device 2 and the vehicle body 3 (the upper swing body 7). The posture detection device 53 includes a boom angle sensor 14, an arm angle sensor 15, a bucket angle sensor 17, a tilt angle sensor 18, and a swing angle sensor 19 as a plurality of posture sensors. The boom angle sensor 14 is mounted on the boom pin 8a, detects the rotation angle of the boom 8 relative to the upper swing body 7, and outputs a signal indicating the detection result to the control device 40. The arm angle sensor 15 is mounted on the arm pin 9a, detects the rotation angle of the arm 9 relative to the boom 8, and outputs a signal indicating the detection result to the control device 40. The bucket angle sensor 17 is mounted on the bucket link 16, detects the rotation angle of the bucket 10 relative to the arm 9, and outputs a signal indicating the detection result to the control device 40. The control device 40 obtains the rotation angles of the boom 8, the arm 9, and the bucket 10 through the angle sensors 14, 15, and 17.

[0053] In addition, the method of obtaining the rotation angles of the boom 8, the arm 9 and the bucket 10 is not limited to this. The control device 40 may also detect the angles of the boom 8, the arm 9 and the bucket 10 relative to a reference plane such as a horizontal plane through an inertial measurement unit (IMU), and convert them into the rotation angles of the boom 8, the arm 9 and the bucket 10, thereby obtaining the rotation angles. In addition, the control device 40 may also detect the strokes of the boom cylinder 11, the arm cylinder 12 and the bucket cylinder 13 through a stroke sensor, and convert them into the rotation angles of the boom 8, the arm 9 and the bucket 10, thereby obtaining the rotation angles.

[0054] The tilt angle sensor 18 is installed on the upper swing body 7, detects the tilt angle of the upper swing body 7 (vehicle body 3) relative to a reference plane such as a horizontal plane, and outputs a signal indicating the detection result to the control device 40. The swing angle sensor 19 is installed on the swing device between the lower traveling body 5 and the upper swing body 7, detects the swing angle of the upper swing body 7 relative to the lower traveling body 5, and outputs a signal indicating the detection result to the control device 40.

[0055] Here, each rotation angle of the boom 8, the arm 9, and the bucket 10 is a parameter indicating the posture of the working device 2. That is, the boom angle sensor 14, the arm angle sensor 15, and the bucket angle sensor 17 function as a posture sensor for detecting the posture of the working device 2. In addition, the inclination angle of the upper swing body 7 and the swing angle of the upper swing body 7 relative to the lower traveling body 5 are parameters indicating the posture of the upper swing body 7 (vehicle body 3). That is, the inclination angle sensor 18 and the swing angle sensor 19 function as a posture sensor for detecting the posture of the upper swing body 7 (vehicle body 3).

[0056] The hydraulic excavator 1 has an object position detection device 54 for detecting the type and position of an object existing around the hydraulic excavator 1. The object position detection device 54 is, for example, a LiDAR (Light Detection And Ranging) and a stereo camera, and is installed on the upper part of the cab 71. The object position detection device 54 detects the bucket 201 of the loaded machine 200 carrying the excavated material excavated by the working device 2, and detects the position information of the bucket 201 of the loaded machine 200 relative to the object position detection device 54 provided on the upper swing body 7. In addition, a plurality of object position detection devices 54 may be installed on the hydraulic excavator 1.

[0057] The control device 40 is a computer that connects processing devices such as a CPU (Central Processing Unit), an MPU (Micro Processing Unit), and a DSP (Digital Signal Processor), internal storage devices such as a RAM (Random Access Memory) and a ROM (Read Only Memory), and an external I / F (Interface) through a bus. The external I / F of the control device 40 is connected to an operation detection device 56, a posture detection device 53, an object position detection device 54, an input device 57, and an external storage device such as a hard disk drive and a large-capacity flash memory.

[0058] The ROM stores programs that can perform various operations. In other words, the ROM is a storage medium that can read programs that implement the functions of this embodiment. The processing device is a computing device that expands the program stored in the ROM in the RAM and performs computing operations, and performs predetermined computing operations on the external I / F and the signals taken from the storage device (internal storage device and external storage device) according to the program.

[0059] The input section of the external I / F converts the signals input from various devices (operation detection device 56, posture detection device 53, object position detection device 54, etc.) into a form that can be calculated by the processing device. In addition, the output section of the external I / F generates an output signal corresponding to the calculation result of the processing device, and outputs the signal to various devices (electromagnetic proportional valve 51, etc.).

[0060] The posture detection device 53 is composed of the posture sensors (14, 15, 17) for detecting the posture of the working device 2 and the posture sensors (18, 19) for detecting the posture of the upper swing body 7 (vehicle body 3).

[0061] Figure 3 is a functional block diagram of the control device 40. Figure 3 As shown, the control device 40 functions as a posture calculation unit 41, a loaded machine position calculation unit 42, a bucket passing position determination unit 43, a soil discharge trajectory generation unit 44, a target motion calculation unit 45, and a valve control unit 46 by executing programs stored in the ROM.

[0062] The ROM of the control device 40 stores in advance data such as an excavator reference coordinate system for determining the positions and postures of the components of the hydraulic excavator 1, the dimensions of the components of the hydraulic excavator 1, and the installation position of the object position detection device 54. Figure 4 as well as Figure 5 As shown, the excavator reference coordinate system of the present embodiment is defined as a right-handed coordinate system with the point where the rotation center axis intersects the ground G as the origin O. The excavator reference coordinate system defines the forward direction of the lower traveling body 5 as the positive direction of the X-axis. The excavator reference coordinate system of the present embodiment defines the direction extending upward from the origin O and parallel to the rotation center axis as the positive direction of the Z-axis. The excavator reference coordinate system of the present embodiment defines the direction that is orthogonal to the X-axis and the Z-axis respectively and to the left of the lower traveling body 5 as the positive direction of the Y-axis. In this way, the excavator reference coordinate system of the present embodiment is a coordinate system set with the lower traveling body 5 as the reference, and the XY plane is fixed to the ground (travel surface) G that the lower traveling body 5 contacts.

[0063] In the excavator reference coordinate system of the present embodiment, when the hydraulic excavator 1 is in the reference posture, that is, when the working device 2 is in a state parallel to the X-axis, the swing angle θsw of the upper swing body 7 is 0 degrees. In the state where the swing angle θsw of the upper swing body 7 is 0 degrees, the action plane of the working device 2 is parallel to the XZ plane, the rising action direction of the boom 8 is the positive direction of the Z-axis, and the retraction direction of the arm 9 and the unloading direction of the bucket 10 are the positive direction of the X-axis.

[0064] The posture calculation unit 41 calculates the posture of the components of the hydraulic excavator 1 in the excavator reference coordinate system based on the detection signal of the posture detection device 53. Specifically, the posture calculation unit 41 calculates the rotation angle of the boom 8 relative to the X-axis (hereinafter also referred to as the boom angle) θbm based on the detection signal of the rotation angle of the boom 8 output from the boom angle sensor 14. The posture calculation unit 41 calculates the rotation angle of the arm 9 relative to the boom 8 (hereinafter also referred to as the arm angle) θam based on the detection signal of the rotation angle of the arm 9 output from the arm angle sensor 15. The posture calculation unit 41 calculates the rotation angle of the bucket 10 relative to the arm 9 (hereinafter also referred to as the bucket angle) θbk based on the detection signal of the rotation angle of the bucket 10 output from the bucket angle sensor 17. The posture calculation unit 41 calculates the swing angle θsw of the upper swing body 7 relative to the X-axis (lower travel body 5) based on the detection signal of the swing angle of the upper swing body 7 output from the swing angle sensor 19.

[0065] The posture calculation unit 41 calculates the positions of the boom 8, the arm 9 and the bucket 10 in the excavator reference coordinate system, that is, the plane position determined by the X coordinate and the Y coordinate and the height from the ground G determined by the Z coordinate, based on the calculated rotation angles θbm, θam, θbk of the working device 2 and the swing angle θsw of the upper swing body 7, and the boom length Lbm, the arm length Lam and the bucket length Lbk. In addition, the boom length Lbm is the length from the boom pin 8a to the arm pin 9a. The arm length Lam is the length from the arm pin 9a to the bucket pin 10a. The bucket length Lbk is the length from the bucket pin 10a to the front end (claw tip) of the bucket 10. In addition, the boom pin 8a is set at a position offset by Lox in the X-axis direction from the swing center axis (Z axis) when the swing angle is 0 degrees.

[0066] In addition, although not shown in the figure, the posture calculation unit 41 calculates the inclination angle (pitch angle and roll angle) of the vehicle body 3 (lower traveling body 5) relative to the reference plane based on the detection signal of the inclination angle of the vehicle body 3 output from the inclination angle sensor 18. The reference plane is, for example, a horizontal plane perpendicular to the direction of gravity. The posture calculation unit 41 calculates the angle of the bucket 10 relative to the horizontal plane (ground G) perpendicular to the direction of gravity, that is, the ground angle γ, based on the inclination angle of the vehicle body 3 and each rotation angle θbm, θam, θbk of the working device 2. The ground angle γ of the bucket 10 is the angle formed by the straight line SL passing through the front end of the bucket 10 and the bucket pin 10a with respect to the horizontal plane (ground G). When the opening of the bucket 10 is facing upward and the straight line SL is parallel to the horizontal plane (ground G), the ground angle γ of the bucket 10 is 0 (zero) degrees, and increases as the bucket unloading action progresses. When the opening of the bucket 10 faces downward and the straight line SL is parallel to the horizontal plane (the ground G), the angle γ of the bucket 10 relative to the ground is 180 degrees.

[0067] Figure 3The loaded machine position calculation unit 42 shown calculates the position of the bucket 201 of the loaded machine 200 in the excavator reference coordinate system (the plane position determined by the X coordinate and the Y coordinate, and the height from the ground G determined by the Z coordinate) based on the information of the relative position of the bucket 201 of the loaded machine 200 with respect to the object position detection device 54 detected by the object position detection device 54, the swing angle θsw of the upper swing body 7 calculated by the posture calculation unit 41, and the installation position of the object position detection device 54 in the excavator reference coordinate system. In this way, the control device 40 of this embodiment uses the object position detection device 54 to obtain the relative position of the bucket 201 with respect to the hydraulic excavator 1 (the X, Y, and Z coordinates in the excavator reference coordinate system). The position information of the bucket 201 acquired by the control device 40 is, for example, the position coordinates of the four corners of the upper surface of the bucket 201, that is, the position coordinates of the front end and rear end of the upper edge of the left side portion 2021 of the bucket 201, and the front end and rear end of the upper edge of the right side portion 202r. That is, it can be said that the position information of the bucket 201 acquired by the control device 40 includes information on the relative position and relative angle of the bucket 201 relative to the upper swing body 7. In other words, in this embodiment, the control device 40 uses the object position detection device 54 to acquire various information related to the relative position relative to the working device 2 in the bucket 201 of the loaded machine 200 loaded with the excavated material excavated by the working device 2 as relative position information.

[0068] When a loading control start instruction is input from the control trigger switch 24 , the unloading trajectory generating unit 44 generates an unloading trajectory T1 based on position information (relative position and relative angle with respect to the upper revolving body 7 ) of the bucket 201 at a loading start position P3 described later.

[0069] The unloading trajectory generating unit 44 calculates the releasing start position (hereinafter also referred to as the unloading start position) P1, the unloading completion position P2 and the unloading trajectory T1, wherein the unloading start position P1 is the position at which the releasing action of the excavated material (hereinafter also referred to as the unloading action) performed above the cargo bucket 201 is started, the unloading completion position P2 is the position at which the unloading action is completed, and the unloading trajectory T1 is the target trajectory (predicted moving path) of the control point CP of the working device 2 from the unloading start position P1 to the unloading completion position P2. Fig. 6A as well as Figure 6B The following is an example of the soil unloading start position P1, soil unloading completion position P2, and soil unloading trajectory T1 generated by the soil unloading trajectory generation unit 44. The soil unloading trajectory T1 can be set to any length. For example, the soil unloading trajectory T1 can be set to be longer than twice the length of the bucket length Lbk. The soil unloading start position P1 is set at the rear of the bucket 201, and the soil unloading completion position P2 is set at the front of the bucket 201.

[0070] An example of a method for calculating the unloading start position P1 and the unloading completion position P2 is described. The storage device stores the distance D1 from the rear end portion 205 used for calculating the unloading start position P1. In addition, the storage device stores the distance D2 from the front side 202f used for calculating the unloading completion position P2. The unloading trajectory generation unit 44 calculates the virtual straight line CL of the bucket 201 that passes through the left and right width center of the bucket 201 and is parallel to the front and rear direction of the loaded machine 200, based on the position information of the bucket 201.

[0071] The soil unloading trajectory generating unit 44 sets the position on the center line CL of the cargo box and at a distance D1 stored in the storage device from the rear end 205 as the soil unloading start position P1 based on the position information of the rear end 205. The soil unloading trajectory generating unit 44 sets the position on the center line CL of the cargo box and at a distance D2 stored in the storage device from the front side 202f as the soil unloading completion position P2 based on the position information of the front side 202f. Fig. 6A as well as Figure 6B In the example shown, the soil unloading start position P1 is set at a position closer to the rear end 205 than the center Ov of the bucket 201, and the soil unloading completion position P2 is set at a position closer to the front side 202f than the center Ov of the bucket 201.

[0072] In addition, the calculation method of the soil unloading start position P1 and the soil unloading completion position P2 is not limited to the above method. For example, the soil unloading start position P1 does not necessarily need to be set near the rear end 205 of the cargo bucket 201. At least, the soil unloading start position P1 can be a position where the bucket 10 is retracted inside the cargo bucket 201 when viewed from above.

[0073] Fig. 6A It is a plan view of the hydraulic excavator 1 and the loaded machine 200 , and shows an example of a linear earth-moving trajectory T1 connecting the earth-moving start position P1 and the earth-moving completion position P2 . Figure 6B It is a side view of the hydraulic excavator 1 and the loaded machine 200, and shows an example of a straight unloading trajectory T1 connecting the unloading start position P1 and the unloading completion position P2. The control point CP of the working device 2 is set, for example, at the front end of the boom 9. In this embodiment, an example is described in which the left and right width center point of the bucket pin 10a provided at the front end of the boom 9 is set as the control point CP of the working device 2.

[0074] like Fig. 6AAs shown, the soil unloading trajectory T1 is parallel to the bucket center line CL, which is a straight line passing through the center Ov of the bucket 201 and parallel to the outer side surface of the side portion 202, when viewed from above. The soil unloading start position P1 and the soil unloading completion position P2 when viewed from above the bucket 201 are arranged along the front-to-back direction of the bucket 201 (corresponding to the front-to-back direction of the loaded machine 200, in this embodiment, along the direction of the bucket center line CL). The plane positions (X coordinates and Y coordinates) of the soil unloading start position P1 and the soil unloading completion position P2 are determined so that the bucket 10 is entirely present in the bucket 201 when viewed from above.

[0075] The height (Z coordinate) of the soil unloading trajectory T1 included in the soil unloading start position P1 and the soil unloading completion position P2 is calculated by adding the size of the bucket 10 and the margin height to the height of the bottom 203 of the cargo bucket 201. Figure 6B As shown by the dotted line in FIG. 2 , the soil unloading trajectory T1 is set along the bottom 203 of the bucket 201. In addition, the setting method of the soil unloading trajectory T1 is not limited to this. Figure 6B As shown by the double-dotted line in the figure, the soil unloading trajectory T1 can also be set parallel to the horizontal.

[0076] The control device 40 controls the operation of the working device 2 so that the ground angle γ of the bucket 10 becomes a preset earth unloading completion angle γc during the period when the front end of the boom 9 moves from the earth unloading start position P1 to the earth unloading completion position P2. The earth unloading completion angle γc is set, for example, to an input device 57 (see FIG. 1 ) connected to the control device 40. Figure 2 ) is performed. The input device 57 has an operation input unit operated by an operator and a site manager.

[0077] In addition, the control device 40 may determine the soil unloading completion angle γc from the database of the excavation object stored in the storage device. The database of the excavation object specifies the relationship between the viscosity coefficient of the excavation object and the soil unloading completion angle γc. If the viscosity of the excavation object is large, the excavation object is likely to remain in the bucket 10, so it is preferred to set the soil unloading completion angle γc to a larger value. On the contrary, if the viscosity of the excavation object is small, the excavation object is likely to be released from the bucket 10, so it is preferred to set the soil unloading completion angle γc to a smaller value. Therefore, the relationship between the viscosity coefficient and the soil unloading completion angle γc specified in the database of the excavation object is a relationship in which the soil unloading completion angle γc increases as the viscosity coefficient increases.

[0078] When the information of the viscosity coefficient is input from the input device 57, the control device 40 refers to the database of the excavation object and sets the earth unloading completion angle γc based on the input viscosity coefficient information. In addition, when the hydraulic excavator 1 has a positioning device including a GNSS (Global Navigation Satellite System) antenna, the viscosity coefficient of the excavation object at the current position may be determined based on the position information of the hydraulic excavator 1 in the earth coordinate system and the information of the viscosity coefficient of the geology of the work site included in the map information stored in the storage device, and the earth unloading completion angle γc may be set.

[0079] The control device 40, for example, causes the bucket 10 to rotate from the unloading start position P1 to the unloading completion position P2 at a fixed angular velocity ω0. Furthermore, the control device 40 may be configured such that, when the front end portion (CP) of the boom 9 is moved from the unloading start position P1 to the unloading completion position P2, the angular velocity of the unloading action of the bucket 10 is gradually increased to a predetermined angular velocity ω1 as the front end portion (CP) of the boom 9 approaches the unloading completion position P2. That is, the control device 40 may be configured such that the angular velocity of the unloading action of the bucket 10 performed when the bucket 10 reaches the unloading completion position P2 from the unloading start position P1 is variable. Furthermore, for the angular velocities ω0 and ω1, for example, a setting corresponding to the input device 57 (refer to Figure 2 ) corresponding to any angular velocity.

[0080] In the stage where the bucket 10 starts to move from the unloading start position P1 toward the unloading completion position P2, that is, in the unloading initial stage where the angle γ of the bucket 10 relative to the ground increases from 0 degrees, the amount of excavated material (unloading amount) released from the bucket 10 is greater than that in the unloading final stage described later. Therefore, it is preferable that the angular velocity of the bucket unloading action is smaller in the unloading initial stage than in the unloading final stage. On the other hand, in the stage immediately before reaching the unloading completion position P2, that is, in the unloading final stage where the angle γ of the bucket 10 relative to the ground increases to, for example, about 70 to 80 degrees, the unloading amount is smaller than that in the unloading initial stage. Therefore, it is preferable that the angular velocity of the bucket unloading action is larger in the unloading final stage than in the unloading initial stage.

[0081] As described above, by increasing the angular velocity of the unloading operation of the bucket 10 as the bucket 10 approaches the unloading completion position P2, the amount of excavated material released from the bucket 10 per unit time (the amount of unloading) can be made constant. As a result, the deviation of the excavated material released by one unloading operation can be further reduced compared to the case where the angular velocity is set to be constant. In addition, the control device 40 can also set a mode in which the angular velocity of the unloading operation of the bucket 10 is set to be constant or a mode in which the angular velocity is increased according to the operation with respect to the input device 57.

[0082] If a loading control start instruction is input from the control trigger switch 24, Figure 3 The bucket passing position determination unit 43 shown determines the end side of the bucket 201 that the bucket 10 passes through in the process of moving the front end (CP) of the arm 9 to the start position P1 of the earth discharge by rotating the upper swing body 7 in the direction in which the front end (CP) of the arm 9 approaches the bucket 201 based on the position information of the bucket 201 and the earth discharge start position P1. That is, the bucket passing position determination unit 43 determines which end side the bucket 10 passes through to enter the bucket 201.

[0083] Reference Figure 7 , which illustrates an example of bucket position determination processing. Figure 7 As shown, the bucket position determination unit 43 calculates the angle between the bucket center line CL and the line segment L connecting the rotation center (origin O) and the center Ov of the bucket 201. Based on the calculated angle Determine the end edge portion through which the bucket 10 passes. is a pre-defined angle threshold In the above case, the bucket passing position determination unit 43 determines that the end edge portion through which the bucket 10 passes when entering the cargo bucket 201 when viewed from above is the rear end portion 205. That is, the bucket passing position determination unit 43 determines that the bucket 10 passes through the rear end portion 205 and enters the cargo bucket 201. Insufficient Angle Threshold In the case of, the bucket passing position determination unit 43 determines that the end edge portion through which the bucket 10 passes when entering the cargo bucket 201 when viewed from above is the side portion 202. That is, the bucket passing position determination unit 43 determines that the bucket 10 passes through the side portion 202 and enters the cargo bucket 201.

[0084] The method of determining the end side by the bucket passing position determination unit 43 is not limited to this. For example, the bucket passing position determination unit 43 calculates the predicted trajectory T0 of the front end of the boom 9 when the upper swing body 7 is swung in a direction that causes the front end of the boom 9 to approach the cargo bucket 201. The bucket passing position determination unit 43 may determine that the end side that intersects the predicted trajectory T0 when viewed from above and has the shortest length along the predicted trajectory T0 from the loading start position P3 is the end side that the bucket 10 passes.

[0085] Figure 3The target motion calculation unit 45 shown calculates the target speed of each hydraulic actuator (boom cylinder 11, arm cylinder 12, bucket cylinder 13, swing hydraulic motor 6) based on the calculation results of the posture calculation unit 41 and the loaded machine position calculation unit 42, the unloading trajectory T1 generated by the unloading trajectory generation unit 44, and the judgment result of the bucket passing position judgment unit 43. A specific example of the method for calculating the target speed based on the target motion calculation unit 45 is described below.

[0086] The target motion calculation unit 45 sets the position of the tip end portion (control point CP) of the boom 9 when the control trigger switch 24 is operated and the loading control start instruction is input from the control trigger switch 24 as the loading start position P3. In addition, the operator operates the control trigger switch 24 when the excavation action by the working device 2 is completed. That is, the loading start position P3 corresponds to the position where the excavation action is completed. The target motion calculation unit 45 sets the loading start position P3 (refer to Fig. 9 ) and the side portion 202 of the bucket 201, an angular position in the rotation direction of the front end portion of the boom 9 where the bucket 201 and the working device 2 do not interfere, that is, an interference prevention position P4 (refer to Fig. 9 ).

[0087] The target motion calculation unit 45 calculates the lower limit value in the height direction of the working device 2 (equivalent to the target trajectory for the transport motion) corresponding to the angular position in the swing direction of the front end of the boom 9, which becomes larger as it approaches the interference prevention position P4 and becomes the interference prevention height Hi at the interference prevention position P4, within the motion range of the upper swing body 7 from the loading start position P3 to the interference prevention position P4. The interference prevention height Hi is the height in the excavator reference coordinate system that the front end of the boom 9 should reach in order for the bucket 10 to pass over the end edge of the bucket 201. The interference prevention height Hi is set by adding a margin Hm to the height Ht of the bucket 201 based on the ground G that the hydraulic excavator 1 contacts.

[0088] also, Figure 1 , the height of the ground contact surface of the loaded machine 200 in the earth coordinate system is shown to be lower than the height of the ground contact surface (ground G) of the hydraulic excavator 1 in the earth coordinate system. However, in order to make the description easier to understand, it is assumed that the height of the ground contact surface of the loaded machine 200 in the earth coordinate system is the same as the height of the ground contact surface (ground G) of the hydraulic excavator 1 (see Fig.10 , Fig.12 That is, the ground G that the hydraulic excavator 1 contacts is flush with the ground that the loaded machine 200 contacts, and the height from the ground that the loaded machine 200 contacts is equivalent to the height (Z coordinate) in the excavator reference coordinate system.

[0089] The target motion calculation unit 45 calculates the interference prevention height Hi, which is the lower limit of the height of the front end portion (CP) of the bucket arm 9 when the bucket arm 9 passes through the end edge portion, based on the determination result of the bucket passing position determination unit 43. When the bucket passing position determination unit 43 determines that the bucket 10 passes through the side portion 202 of the bucket 201 and enters the bucket 201, the target motion calculation unit 45 sets the height Ht of the bucket 201 to the height Hta for side passage (see Fig.10 ), and set the margin Hma for side passage to margin Hm (refer to Fig.10 ). The side passage height Hta is the height from the ground G to the upper end of the side portion 202, and is calculated by the loaded machine position calculation unit 42. In addition, the margin Hma is determined in consideration of the bucket length Lbk and is stored in advance in the storage device. The margin Hma is greater than the bucket length Lbk. The side passage interference prevention height Hia is represented by the sum of the side passage height Hta and the margin Hma (refer to Fig.10 ).

[0090] When the bucket passing position determination unit 43 determines that the bucket 10 has passed through the rear end portion 205 of the bucket 201 and entered the bucket 201, the target motion calculation unit 45 sets the rear end passing height Htb to the height Ht of the bucket 201 (see Fig.12 ), and set the margin Hmb for the rear end to the margin Hm (refer to Fig.12 ). The rear end passage height Htb is the height from the ground G to the rear end 205, and is calculated by the loaded machine position calculation unit 42. In addition, the margin Hmb is determined in consideration of the bucket length Lbk and is stored in advance in the storage device. The margin Hmb is greater than the bucket length Lbk. In addition, the margin Hma and the margin Hmb can be different values ​​or the same value. The interference prevention height Hib for the rear end passage is represented by the sum of the rear end passage height Htb and the margin Hmb (refer to Fig.12 ).

[0091] Since the interference prevention heights Hi (Hia, Hib) are set in this manner, the bucket 10 can be moved from the outside to the inside of the bucket 201 by the swinging motion of the upper swing body 7 without interfering with the bucket 201 .

[0092] The target motion calculation unit 45 calculates the target speeds of the boom 8 and the upper swing body 7 in such a way that the height of the front end of the boom 9 does not fall below the above-mentioned lower limit when the front end (CP) of the boom 9 is moved from the loading start position P3 to the interference prevention position P4. The target motion calculation unit 45 calculates the target speeds of each hydraulic actuator in such a way that the height of the front end of the boom 9 does not fall below the interference prevention height Hi before the entire bucket 10 is retracted from the interference prevention position P4 into the cargo bed 201.

[0093] Furthermore, the target motion calculation unit 45 calculates the target speed of each hydraulic actuator within the motion range of the upper swing body 7 from the loading start position P3 to the unloading start position P1 so that the tip of the arm 9 reaches the unloading start position P1.

[0094] When the bucket passing position determination unit 43 determines that the front end of the arm 9 has passed through the side portion 202 of the bucket 201, the target motion calculation unit 45 calculates a target speed for lowering the position of the bucket 10 so that the front end of the arm 9 reaches the unloading start position P1 after the bucket 10 enters the bucket 201 as a whole. Thus, the action of lowering the position of the bucket 10 is performed after the bucket 10 enters the bucket 201 as a whole. On the other hand, when the bucket passing position determination unit 43 determines that the front end of the arm 9 has passed through the rear end 205 of the bucket 201, the action of lowering the position of the bucket 10 is not performed after the bucket 10 enters the bucket 201 as a whole.

[0095] The target motion calculation unit 45 calculates the target speeds of the boom cylinder 11, the arm cylinder 12, and the swing hydraulic motor 6 so that the front end portion (CP) of the boom 9 moves along the generated unloading trajectory T1. In addition, the target motion calculation unit 45 calculates the target speed of the bucket cylinder 13 so that the ground angle γ of the bucket 10 becomes a predetermined unloading completion angle γc when the front end portion (CP) of the boom 9 reaches the unloading completion position P2 from the unloading start position P1.

[0096] The valve control unit 46 outputs a control signal to the electromagnetic proportional valve 51 so that the boom cylinder 11, the arm cylinder 12, the bucket cylinder 13, and the swing hydraulic motor 6 move at the target speed calculated by the target motion calculation unit 45. The target motion calculation unit 45 and the valve control unit 46 function as an actuator control unit 47 that controls the motion of each hydraulic actuator (the boom cylinder 11, the arm cylinder 12, the bucket cylinder 13, and the swing hydraulic motor 6).

[0097] The actuator control unit 47 controls the movement of at least one of the working device 2 and the upper swing body 7 based on the postures of the working device 2 and the upper swing body 7 calculated by the posture calculation unit 41, thereby moving the control point CP of the working device 2 from the unloading start position P1 to the unloading completion position P2. In addition, the actuator control unit 47 controls the movement of the working device 2 in such a manner that the ground angle γ of the bucket 10 becomes a preset unloading completion angle γc during the period when the control point CP of the working device 2 moves from the unloading start position P1 to the unloading completion position P2.

[0098] Reference Figure 8An example of the flow of the loading control process executed by the control device 40 is described. When the control trigger switch 24 is operated and a loading control start instruction is input from the control trigger switch 24, the loading control starts. Figure 8 In step S100 , the loaded machine position calculation unit 42 calculates the position information of the bucket 201 of the loaded machine 200 based on the information from the object position detection device 54 .

[0099] In the subsequent step S105 , the soil unloading trajectory generator 44 calculates the soil unloading start position P1 , the soil unloading completion position P2 , and the soil unloading trajectory T1 based on the position information of the bucket 201 of the loaded machine 200 calculated in step S100 .

[0100] In the subsequent step S110, the bucket passing position judgment unit 43 calculates the end edge of the bucket 201 (hereinafter also referred to as the bucket passing end edge) passed by the front end of the boom 9 when the front end of the boom 9 reaches the unloading start position P1, while rotating the upper rotating body 7 in a rotating direction that causes the front end of the boom 9 to approach the bucket 201.

[0101] In the subsequent step S115, the bucket passing position determination unit 43 determines whether the bucket passing end edge calculated in step S110 is the side portion 202 or the rear end portion 205 of the bucket 201. In step S115, if it is determined that the bucket passing end edge is the side portion 202 of the bucket 201, the process proceeds to step S120. In step S115, if it is determined that the bucket passing end edge is the rear end portion 205 of the bucket 201, the process proceeds to step S150.

[0102] In step S120, the actuator control unit 47 performs the side-passing conveying control. The side-passing conveying control is a control for moving the front end (CP) of the boom 9 from the loading start position P3 to the unloading start position P1 in a manner that the working device 2 does not contact the side 202 of the bucket 201. The side-passing conveying control will be described later.

[0103] In the subsequent step S125, the actuator control unit 47 determines whether the front end of the boom 9 has reached the unloading start position P1. In step S125, if it is determined that the front end of the boom 9 has not reached the unloading start position P1, the processing returns to step S120. In step S125, if it is determined that the front end of the boom 9 has reached the unloading start position P1, the processing proceeds to step S130. That is, before the front end of the boom 9 reaches the unloading start position P1, the conveying control for side passage is repeatedly performed according to the prescribed control cycle (step S120).

[0104] In step S130, the actuator control unit 47 performs the soil unloading control after the side pass. The soil unloading control after the side pass is a control for moving the front end of the boom 9 from the soil unloading start position P1 to the soil unloading completion position P2 and performing the unloading action of the bucket 10 until the ground angle γ of the bucket 10 reaches the soil unloading completion angle γc. The soil unloading control after the side pass will be described later.

[0105] In the subsequent step S135, the actuator control unit 47 determines whether the front end of the boom 9 has reached the soil unloading completion position P2. In step S135, if it is determined that the front end of the boom 9 has not reached the soil unloading completion position P2, the process returns to step S130. In step S135, if it is determined that the front end of the boom 9 has reached the soil unloading completion position P2, the process proceeds to step S140.

[0106] In step S140, the actuator control unit 47 determines whether the ground angle γ of the bucket 10 has reached the earth-discharging completion angle γc (γ≥γc). In step S140, if it is determined that the ground angle γ of the bucket 10 has not reached the earth-discharging completion angle γc, the process returns to step S130. In step S140, if it is determined that the ground angle γ of the bucket 10 has reached the earth-discharging completion angle γc, the process ends. Figure 8 That is, until the front end of the boom 9 reaches the unloading completion position P2 and the ground angle γ of the bucket 10 reaches the unloading completion angle γc, the unloading control after the side passage is repeatedly performed according to a predetermined control cycle (step S130).

[0107] In step S150, the actuator control unit 47 performs the conveying control for the rear end passing. The conveying control for the rear end passing is a control for moving the front end of the boom 9 from the loading start position P3 to the unloading start position P1 in a manner that the working device 2 does not contact the rear end 205 of the bucket 201. The conveying control for the rear end passing will be described later.

[0108] In the subsequent step S155, the actuator control unit 47 determines whether the front end of the boom 9 has reached the unloading start position P1. In step S155, if it is determined that the front end of the boom 9 has not reached the unloading start position P1, the process returns to step S150. In step S155, if it is determined that the front end of the boom 9 has reached the unloading start position P1, the process proceeds to step S160. That is, before the front end of the boom 9 reaches the unloading start position P1, the conveying control for the rear end to pass through is repeatedly executed according to the prescribed control cycle (step S150).

[0109] In step S160, the actuator control unit 47 performs the soil unloading control after the rear end passes. The soil unloading control after the rear end passes is a control for moving the front end of the boom 9 from the soil unloading start position P1 to the soil unloading completion position P2 and performing the unloading action of the bucket 10 until the ground angle γ of the bucket 10 reaches the soil unloading completion angle γc. The soil unloading control after the rear end passes will be described later.

[0110] In the subsequent step S165, the actuator control unit 47 determines whether the front end of the boom 9 has reached the soil unloading completion position P2. In step S165, if it is determined that the front end of the boom 9 has not reached the soil unloading completion position P2, the process returns to step S160. In step S165, if it is determined that the front end of the boom 9 has reached the soil unloading completion position P2, the process proceeds to step S170.

[0111] In step S170, the actuator control unit 47 determines whether the ground angle γ of the bucket 10 has reached the earth-discharging completion angle γc (γ ≥ γc). In step S170, if it is determined that the ground angle γ of the bucket 10 has not reached the earth-discharging completion angle γc, the process returns to step S160. In step S170, if it is determined that the ground angle γ of the bucket 10 has reached the earth-discharging completion angle γc, the process ends. Figure 8 That is, until the front end of the boom 9 reaches the unloading completion position P2 and the ground angle γ of the bucket 10 reaches the unloading completion angle γc, the unloading control after the rear end passes is repeatedly executed according to a predetermined control cycle (step S160).

[0112] Reference Fig. 9 as well as Fig.10 , explaining the contents of the transport control for side passage and the unloading control after side passage. Fig. 9 It is a plan view of the hydraulic excavator 1 and the loaded machine 200, showing the hydraulic excavator 1 operating according to the transport control for side passage, and the unloading locus used in the unloading control after the side passage. Fig.10 FIG. 1 is a side view of the hydraulic excavator 1 and the machine 200 to be loaded, showing the bucket 10 moving according to the transport control for side passage. Fig. 9 as well as Fig.10 As shown, the state of the hydraulic excavator 1 at the time when the control trigger switch 24 is operated is set to state S10. The position of the tip end of the arm 9 in state S10 is set to the loading start position P3.

[0113] The side-passing conveying control is a control performed by the hydraulic excavator 1 from state S10 to state S14. When the side-passing conveying control is started, the hydraulic excavator 1 changes from state S10 to state S12 via state S11, wherein state S11 is in the process of the swing action and the rising action of the bucket 10. State S12 is a state before the bucket 10 reaches the side 202 of the cargo bucket 201, and is a state in which the front end of the boom 9 reaches the interference prevention position P4. In addition, state S12 is a state in which the front end of the boom 9 rises to the interference prevention height Hia at which the bucket 10 does not interfere with the side 202.

[0114] Then, when the entire bucket 10 enters the cargo bucket 201 by the swinging action and the hydraulic excavator 1 enters the state S13, the bucket 10 starts to descend. Then, when the front end of the boom 9 reaches the unloading start position P1, the state of the hydraulic excavator 1 becomes the state S14. The height of the unloading start position P1 (hereinafter also referred to as the unloading start height) Hd is represented by the sum of the height Htd of the bottom 203 of the cargo bucket 201 and the margin Hmd taking into account the length Lbk of the bucket 10. The height Htd of the bottom 203 of the cargo bucket 201 is calculated by the loaded machine position calculation unit 42. The margin Hmd is greater than the bucket length Lbk. The unloading start height Hd is lower than the interference prevention height Hia.

[0115] Thus, in the first half of the transport control for side passage, the swinging motion and the rising motion of the boom 8 are controlled so that the front end of the boom 9 reaches the interference prevention position P4 and the interference prevention height Hia. In addition, in the second half of the transport control for side passage, the swinging motion is controlled until the entire bucket 10 is retracted into the cargo bucket 201, and the swinging motion and the lowering motion of the boom 8 are controlled so that the front end of the boom 9 reaches the unloading start position P1 and the unloading start height Hd. In addition, the angle of the boom 9 can also be adjusted in the transport control for side passage.

[0116] The unloading control after the side pass is the control performed by the hydraulic excavator 1 from the state S14 to the state S15. In the unloading control after the side pass, the actuator control unit 47 instructs the lowering action of the boom 8, the extending action of the dipper arm 9, and the unloading action of the bucket 10 to release the excavated material from the bucket 10 to the cargo bucket 201. From the state S14, the lowering action of the boom 8, the extending action of the dipper arm 9, and the front end of the dipper arm 9 are combined to move along the straight unloading trajectory T1 (refer to Fig. 6A , Figure 6B While the front end of the arm 9 moves along the unloading trajectory T1, the bucket 10 performs an unloading operation, and the hydraulic excavator 1 is in a state S15.

[0117] Reference Fig.11as well as Fig.12 , explaining the contents of the transportation control and soil unloading control used by the rear end. Fig.11 It is a plan view of the hydraulic excavator 1 and the loaded machine 200, showing the hydraulic excavator 1 operating according to the transport control for rear end passage and the dumping control after the rear end passage, and the dumping trajectory T1 used in the dumping control after the rear end passage. Fig.12 FIG. 1 is a side view of the hydraulic excavator 1 and the machine 200 to be loaded, showing the bucket 10 moving according to the transport control for the rear end to pass through and the soil unloading control after the rear end passes through. Fig.11 as well as Fig.12 As shown, the state of the hydraulic excavator 1 at the time when the control trigger switch 24 is operated is set to state S20. The position of the tip end of the arm 9 in state S20 is set as the loading start position P3.

[0118] The conveyance control for rear end passage is a control performed by the hydraulic excavator 1 from state S20 to state S22. When the conveyance control for rear end passage is started, the hydraulic excavator 1 performs a swing action and an ascending action of the bucket 10 from state 20, and enters state S21. State S21 is a state before the bucket 10 reaches the rear end 205 of the cargo bucket 201, and is a state in which the front end of the boom 9 reaches the interference prevention position P4. In addition, state S21 is a state in which the front end of the boom 9 rises to a height at which the bucket 10 does not interfere with the rear end 205, that is, the interference prevention height Hib.

[0119] Then, when the entire bucket 10 enters the cargo bucket 201 by the swing action and the front end of the boom 9 reaches the unloading start position P1, the state of the hydraulic excavator 1 becomes the state S22. The unloading start height Hd is represented by the sum of the height Htd of the bottom 203 of the cargo bucket 201 and the margin Hmd as described above. In addition, in the present embodiment, the height Htd of the bottom 203 is the same value as the height Htb of the rear end 205, and the margin Hmd is the same value as the margin Hmb. That is, the unloading start height Hd and the interference prevention height Hib for the rear end to pass are the same value.

[0120] In this way, the rear end passes through the transport control so that the front end of the boom 9 reaches the interference prevention position P4 and the interference prevention height Hib, and the swing action and the rising action of the boom 8 are controlled. Then, the swing action is controlled so that the front end of the boom 9 reaches the unloading start position P1. In addition, the angle of the boom 9 can also be adjusted in the transport control for the rear end to pass.

[0121] The unloading control after the rear end passes is the control performed by the hydraulic excavator 1 from the state S22 to the state S23. In the unloading control after the rear end passes, the actuator control unit 47 instructs the swinging action of the upper swing body 7, the retracting / releasing action of the boom 9, the raising / lowering action of the boom 8, and the unloading action of the bucket 10 to release the excavated material from the bucket 10 to the cargo bucket 201. Fig.11 In the example shown, the upper swing body 7 swings, the boom 8 rises, the arm 9 retracts, and the front end of the arm 9 moves along a linear unloading trajectory T1 from state S22. While the front end of the arm 9 moves along the unloading trajectory T1, the bucket 10 unloads, and the hydraulic excavator 1 is in state S23.

[0122] According to the above-mentioned embodiment, the following effects are achieved.

[0123] (1) The control device 40 sets the unloading start position (release start position) P1, which is the position where the unloading action (release action) of the excavated material above the bucket 201 is started, and the unloading completion position (release completion position) P2, which is the position where the unloading action is completed, side by side in the direction having the front-rear direction component of the bucket 201, based on the position information of the bucket (cargo box) 201 acquired by the object position detection device (cargo box position acquisition device) 54 at the position where the excavation action is completed. The control device 40 controls the action of at least one of the working device 2 and the upper swing body 7 based on the postures of the working device 2 and the upper swing body 7 detected by the posture detection device 53, thereby moving the control point (the front end of the boom 9) CP of the working device 2 from the unloading start position P1 to the unloading completion position P2. The control device 40 controls the operation of the working device 2 so that the ground angle γ of the bucket 10 becomes a preset earthmoving completion angle γc while the control point CP of the working device 2 moves from the earthmoving start position P1 to the earthmoving completion position P2.

[0124] In this configuration, the front end of the boom 9 moves from the unloading start position P1 to the unloading completion position P2, and the excavated material is released from the bucket 10. Therefore, the excavated material is not released only at a specific portion of the bucket 201. That is, according to this embodiment, in the loading operation to the loaded machine 200, the excavated material such as earth and sand can be released onto the bucket 201 of the loaded machine 200 without bias in one unloading operation.

[0125] (2) The height of the soil unloading start position P1 and the height of the soil unloading completion position P2 are set to the height Htd of the bottom 203 of the bucket 201 plus a predetermined margin Hmd. Therefore, during the soil unloading operation, the bucket 10 is prevented from interfering with the bucket 201 of the loaded machine 200.

[0126] (3) The control device 40 determines the end side of the bucket 201 through which the bucket 10 passes when the upper rotating body 7 is rotated in a direction so that the control point CP of the working device 2 approaches the bucket 201 based on the position information of the bucket 201 and the unloading start position P1, thereby moving the control point CP of the working device 2 to the unloading start position P1, and based on the judgment result, determines whether to cause the upper rotating body 7 to perform a rotating action when the control point CP of the working device 2 is moved from the unloading start position P1 to the unloading completion position P2.

[0127] When it is determined that the end edge of the cargo bucket 201 through which the bucket 10 passes is the side portion 202, the control device 40 does not operate the upper swing body 7, but only operates the working device 2, thereby moving the control point CP of the working device 2 from the soil unloading start position P1 to the soil unloading completion position P2 (see Fig. 9 On the other hand, when it is determined that the end edge of the cargo bucket 201 through which the bucket 10 passes is the rear end 205, the control device 40 causes the working device 2 and the upper swing body 7 to perform a combined action, thereby moving the control point CP of the working device 2 from the unloading start position P1 to the unloading completion position P2 (refer to Fig.11 ).

[0128] In this configuration, only the working device 2 or the working device 2 and the upper swing body 7 are operated according to the end edge of the bucket 201 through which the bucket 10 passes, thereby enabling the bucket 10 to appropriately unload the excavated material without bias.

[0129] (4) When the control device 40 receives a loading control start instruction from the control trigger switch 24, the position (three-dimensional coordinate position) of the control point CP of the working device 2 when the loading control start instruction is received is set as the loading start position P3. The control device 40 performs a transport control for moving the control point CP of the working device 2 from the loading start position P3 to the unloading start position P1. When the control device 40 receives a loading control start instruction from the control trigger switch 24, the control device 40 determines the end side of the bucket 201 that the bucket 10 passes through when the upper swing body 7 swings in a direction that makes the control point CP of the working device 2 approach the bucket 201 based on the position information of the bucket 201 and the unloading start position P1, thereby moving the control point CP of the working device 2 to the unloading start position P1, and based on the determination result, calculates the lower limit value of the height of the control point of the working device 2 when passing through the end side of the bucket 201, that is, the interference prevention height Hi.

[0130] When it is determined that the end edge of the bucket 201 through which the bucket 10 passes is the side portion 202, the control device 40 calculates the interference prevention height Hia for side portion passing (see Fig.10 On the other hand, when it is determined that the end edge of the cargo bucket 201 through which the bucket 10 passes is the rear end 205, the control device 40 calculates the interference prevention height Hib for the rear end to pass (refer to Fig.12 ).

[0131] According to this configuration, regardless of the positional relationship between the hydraulic excavator 1 and the loaded machine 200 , the control point CP of the working implement 2 can be moved to the earthmoving start position P1 without causing interference between the working implement 2 and the loaded machine 200 .

[0132] The control device 40 determines based on the above judgment result whether to lower the control point CP of the working device 2 in the process of moving the control point CP of the working device 2 to the unloading start position P1 after the bucket 10 passes through the end edge of the cargo bucket 201. In the case where it is determined that the end edge of the cargo bucket 201 passed by the bucket 10 is the side portion 202, the control device 40 lowers the front end of the arm 9 in the process of moving the front end of the arm 9 to the unloading start position P1 after the bucket 10 passes through the side portion 202 of the cargo bucket 201 (refer to Fig.10 On the other hand, when it is determined that the end edge of the cargo bucket 201 through which the bucket 10 passes is the rear end 205, the control device 40 does not lower the front end of the bucket 9 during the process of moving the front end of the bucket arm 9 to the unloading start position P1 after the bucket 10 passes through the rear end 205 of the cargo bucket 201 (see Fig.12 ). The height of the left and right side portions 202 of the cargo bucket 201 is lower than the height of the rear end portion 205 of the cargo bucket 201 .

[0133] According to this configuration, after the bucket 10 passes through the left and right side portions 202 of the cargo bucket 201, the front end portion of the boom 9 is lowered, thereby enabling the bucket 10 to approach the bottom 203 of the cargo bucket 201. Therefore, when the excavated material is released from the bucket 10 to the cargo bucket 201, the impact force on the cargo bucket 201 can be reduced, thereby preventing damage to the cargo bucket 201.

[0134] The control device 40 generates a soil unloading trajectory T1 which is a target trajectory from the soil unloading start position P1 to the soil unloading completion position P2 of the control point CP of the working device 2. The control device 40 operates at least one of the upper swing body 7 and the working device 2 so that the control point CP of the working device 2 moves along the soil unloading trajectory T1.

[0135] According to this configuration, the excavated material can be discharged from the bucket 10 along the earth discharge trajectory T1 without bias.

[0136] In addition, the soil discharge track T1 is linear. Therefore, for example, by generating the soil discharge track T1 at the left and right center of the bucket 201, it is possible to prevent the excavated material from overflowing from the bucket 201 and to discharge the excavated material along the linear soil discharge track T1.

[0137] <Modification 1 of the first embodiment>

[0138] In the first embodiment, an example is described in which the control device 40 moves the front end of the boom 9 along a linear earth-discharging trajectory T1 in the earth-discharging control after the rear end passes. Fig.11 ). However, the soil unloading trajectory T1 is not limited to being set in a straight line. For example, the soil unloading start position P1 and the soil unloading completion position P2 do not need to be set in a direction parallel to the cargo bucket centerline CL, as long as they are set side by side in the direction having a front-to-back direction component of the cargo bucket 201. In addition, the soil unloading trajectory T1 of the working device 2 does not need to be a straight line, and can also be curved from the soil unloading start position P1 to the soil unloading completion position P2. For example, Fig.13 As shown, the soil unloading trajectory T1 can be an arc shape with the center of rotation (origin O) as the center. Fig.13 In the illustrated example, the boom 8 and the arm 9 are not operated during the period from the state S22 to the state S23 , and the dumping operation of the bucket 10 is performed together with the swing operation of the upper swing body 7 .

[0139] <Modification 2 of the first embodiment>

[0140] In the first embodiment, an example is described in which the control device 40 moves the front end of the boom 9 along the unloading trajectory T1 parallel to the bucket center line CL in the unloading control after the rear end passes (see Fig.11 ). In this variation, if Fig.14 As shown, the linear soil unloading trajectory T1 intersects the bucket centerline CL when viewed from above. Fig.14 In the illustrated example, during the period from the state S22 to the state S23 , the lowering operation of the boom 8 , the extending operation of the arm 9 , and the unloading operation of the bucket 10 are performed together with the swing operation of the upper swing body 7 .

[0141] By the unloading action of the bucket 10, the ground angle γ of the bucket 10 changes in the unloading direction. On the other hand, if the arm 9 is retracted, the ground angle γ of the bucket 10 changes in the direction opposite to the unloading direction. Fig.14) in the unloading trajectory T1 generated by the control device 40, there is no need to retract the boom 9. The control device 40 of this modified example controls the working device 2 in such a manner that the boom 9 is extended, the boom 8 is lowered, and the bucket 10 is unloaded while the front end of the boom 9 (the control point of the working device 2) moves from the unloading start position P1 to the unloading completion position P2 without retracting the boom 9. As a result, the ground angle γ of the bucket 10 can be changed to the specified unloading completion angle γc more quickly.

[0142] <Second embodiment>

[0143] Reference Figures 15 to 17 Hereinafter, a control device 40B according to a second embodiment of the present invention will be described. In addition, the same reference numerals are given to the same or corresponding components as those described in the first embodiment, and mainly the differences will be described.

[0144] The control device 40B of the second embodiment changes the planar position of at least one of the soil unloading start position P1 and the soil unloading completion position P2 in the loading operation performed on the specified loaded machine 200 according to the number of soil unloading operations performed on the specified loaded machine (that is, the same loaded machine) 200. Hereinafter, an example will be described in which the control device 40B changes only the planar position of the soil unloading start position P1 between the soil unloading start position P1 and the soil unloading completion position P2 according to the number of soil unloading operations.

[0145] Fig.15 is with Figure 3 The same figure is a functional block diagram of the control device 40B. Fig.15 As shown, the control device 40B of the second embodiment has a function as an unloading execution frequency calculation unit 48B in addition to the functions of the control device 40 of the first embodiment. In addition, the control device 40 is connected to a conveying object information acquisition device 55B, and the control device 40 receives the conveying information acquired by the conveying object information acquisition device 55B.

[0146] The transported object information acquisition device 55B is a device that acquires information on the mass of the transported object (for example, excavated soil and sand) loaded in the bucket 10. The transported object information acquisition device 55B is composed of, for example, a pressure sensor that detects the pressure in the cylinder bottom chamber and the piston rod chamber of the boom cylinder 11. The transported object information acquisition device 55B calculates the mass of the transported object in the bucket 10 based on the pressure in the cylinder bottom chamber and the piston rod chamber of the boom cylinder 11 detected by the pressure sensor. In addition, the transported object information acquisition device 55B can also calculate the mass of the transported object in the bucket 10 by taking into account the detection result of the posture detection device 53.

[0147] The soil unloading execution frequency calculation unit 48B calculates the number of soil unloading actions performed for a certain loaded machine 200. The soil unloading execution frequency calculation unit 48B determines whether the soil unloading action is performed above the bucket 201 in a state where the excavated object is loaded in the bucket 10, based on the mass of the loaded object information acquisition device 55B, the postures of the working device 2 and the upper swing body 7 calculated by the posture calculation unit 41, and the position information of the bucket 201 calculated by the loaded machine position calculation unit 42. In other words, the soil unloading execution frequency calculation unit 48B determines whether the excavated object is discharged into the bucket 201. Each time the soil unloading execution frequency calculation unit 48B determines that the excavated object is discharged into the bucket 201 of a certain loaded machine 200, it adds one to the number of soil unloading actions.

[0148] The earth unloading trajectory generation unit 44 generates an earth unloading trajectory T1 according to the number of earth unloading operations calculated by the earth unloading execution number calculation unit 48B. Fig.16 It is a plan view of the loaded machine 200, and shows soil unloading start positions P1-1, P1-2, and P1-3 corresponding to the number of soil unloading operations. Fig.16 In the example shown, the soil unloading trajectory generating unit 44 changes the soil unloading start position P1 set for a certain loading machine 200 according to the number of soil unloading operations.

[0149] When the number of unloading actions is set to the initial value, i.e., 0 (zero), the unloading trajectory generation unit 44 sets the unloading start position P1-1 of the first unloading action performed by the specified loaded machine 200 to the center of the cargo bucket 201. When the number of unloading actions is set to 1, the unloading trajectory generation unit 44 sets the unloading start position P1-2 of the second unloading action performed by the specified loaded machine 200 to a position behind the loaded machine 200 at a specified distance from the unloading start position P1-1. When the number of unloading actions is set to 2, the unloading trajectory generation unit 44 sets the unloading start position P1-3 of the third unloading action performed by the specified loaded machine 200 to a position behind the loaded machine 200 at a specified distance from the unloading start position P1-2.

[0150] In the second embodiment, the unloading completion position P2 is fixed regardless of the number of unloading operations. The bottom 203 of the bucket 201 may be inclined so that the distance between the loaded machine 200 and the ground contact surface gradually decreases from the rear end 205 to the front side 202f (that is, the depth of the bottom 203 gradually increases) (see Figure 6B ).like Fig.16As shown, the control device 40B of the second embodiment makes the planar position of the unloading start position P1 approach the rear end portion 205 as the number of unloading actions increases. That is, the control device 40B shifts the unloading start position P1 rearward each time the unloading action is performed. This prevents the height of the excavated material loaded to the rear of the bucket 201 from being higher than the height of the excavated material loaded to the front of the bucket 201. In other words, the height of the excavated material discharged to the bucket 201 can be made uniform. This improves the work efficiency of the action of leveling the height of the excavated material performed after repeated unloading actions.

[0151] In addition, the example in which the unloading start position P1 is changed every time the number of unloading actions increases by 1 is described, but the unloading start position P1 may be changed every time the number of unloading actions increases by a predetermined number of times or more than 2. In addition, the control device 40B may change the predetermined number itself every time the unloading start position P1 changes.

[0152] In addition, the example in which the control device 40B changes only the unloading start position P1 between the unloading start position P1 and the unloading completion position P2 according to the number of unloading actions has been described, but the present invention is not limited thereto. The control device 40B may also change only the unloading completion position P2 between the unloading start position P1 and the unloading completion position P2 according to the number of unloading actions.

[0153] In addition, if Fig.17 As shown, both the soil unloading start position P1 and the soil unloading completion position P2 may be changed according to the number of times the soil unloading operation is performed. Fig.17 In the example shown, when the number of unloading actions is set to the initial value 0 (zero), the unloading trajectory generation unit 44 sets the unloading start position P1-1 and the unloading completion position P2-1 for the first unloading action performed by the specified loaded machine 200 at the left front corner of the cargo box 201. When the number of unloading actions is set to 1, the unloading trajectory generation unit 44 sets the unloading start position P1-2 and the unloading completion position P2-2 for the second unloading action performed by the specified loaded machine 200 at the right front corner of the cargo box 201. When the number of unloading actions is set to 2, the unloading trajectory generation unit 44 sets the unloading start position P1-3 and the unloading completion position P2-3 for the third unloading action performed by the specified loaded machine 200 at the left rear corner of the cargo box 201. When the number of unloading operations is set to 3, the unloading trajectory generator 44 sets the unloading start position P1 - 4 and the unloading completion position P2 - 4 for the fourth unloading operation performed by the specified loading machine 200 at the right rear corner of the bucket 201 .

[0154] Fig.17The lengths of the soil unloading trajectories T1-1, T1-2, T1-3, and T1-4 generated in the example shown are shorter than those of Fig. 6A The length of the soil unloading track T1 described above. For example, the length of each of the soil unloading tracks T1-1, T1-2, T1-3, and T1-4 is shorter than half of the front-rear dimension of the bucket 201. In addition, the length of each of the soil unloading tracks T1-1, T1-2, T1-3, and T1-4 may be less than twice the bucket length Lbk. Therefore, the excavated material can be accurately released relative to the four corners of the bucket 201.

[0155] For example, the control device 40B is connected to a first trigger switch and a second trigger switch as the control trigger switch 24. When the first trigger switch is operated, the control device 40B moves the front end of the boom 9 along the earth-discharging trajectory T1 described in the first embodiment. When the second trigger switch is operated, the control device 40B moves the front end of the boom 9 along the earth-discharging trajectory T1 described in the first embodiment. Fig.17 As shown, the soil unloading action is performed relative to any one of the four corners of the cargo bucket 201.

[0156] According to this configuration, when the bucket 201 is empty, the operator operates the first trigger switch, thereby releasing a large amount of excavated material onto the bucket center line CL. This earth-discharging operation is repeatedly performed each time the first trigger switch is operated. Then, if the operator operates the second trigger switch, the earth-discharging operation is performed with respect to any one of the four corners of the bucket 201. Each time the second trigger switch is operated, the earth-discharging operation is sequentially performed with respect to any one of the four corners of the bucket 201. Thus, the excavated material can be uniformly loaded with respect to the entire bucket 201.

[0157] <Modification 1 of the Second Embodiment>

[0158] In the second embodiment, an example is described in which the control device 40B changes the planar position of at least one of the unloading start position P1 and the unloading completion position P2 according to the number of unloading actions. In contrast, in this modified example, the control device 40B changes the height (position in the Z direction) of at least one of the unloading start position P1 and the unloading completion position P2 according to the number of unloading actions.

[0159] Fig.18 It is a side view of the loaded machine 200, and shows soil unloading completion positions P2-1, P2-2, and P2-3 according to the number of soil unloading operations. Fig.18 In the example shown, the soil unloading trajectory generating unit 44 changes the soil unloading completion position P2 set for a certain loading machine 200 according to the number of soil unloading operations.

[0160] When the number of unloading actions is set to an initial value, that is, 0 (zero), the unloading trajectory generating unit 44 sets the unloading completion position P2-1 for the first unloading action performed by the specified loading machine 200 to be lower than the unloading start position P1. For example, the unloading trajectory generating unit 44 sets the unloading completion position P2-1 in such a way that the length of the virtual straight line extending from the unloading completion position P2-1 to the bottom 203 in the vertical direction is equal to the length of the virtual straight line extending from the unloading start position P1 to the bottom 203 in the vertical direction.

[0161] When the number of unloading actions is set to 1, the unloading trajectory generation unit 44 sets the unloading completion position P2-2 of the second unloading action performed by the specified loaded machine 200 to a position above the above-mentioned unloading completion position P2-1 at a specified distance. When the number of unloading actions is set to 2, the unloading trajectory generation unit 44 sets the unloading completion position P2-3 of the third unloading action performed by the specified loaded machine 200 to a position above the above-mentioned unloading completion position P2-2 at a specified distance. For example, the unloading trajectory generation unit 44 sets the unloading completion position P2-3 in such a way that the height (Z coordinate) of the unloading completion position P2-3 from the ground G is equal to the height (Z coordinate) of the unloading start position P1-1 from the ground G.

[0162] As described above, the bottom 203 of the cargo box 201 may be inclined so that the distance between the loaded machine 200 and the ground contact surface gradually decreases from the rear end 205 to the front side 202f (that is, the depth of the bottom 203 gradually increases). Fig.18 As shown, the control device 40B of this modification increases the height of the unloading completion position P2 as the number of unloading operations increases. This can suppress the impact force of the excavated material released from the bucket 10 on the bucket 201. As a result, damage to the bucket 201 can be prevented.

[0163] As described above, the control device 40B of the second embodiment and the modified example of the second embodiment changes at least one of the soil unloading start position P1 and the soil unloading completion position P2 according to the number of soil unloading operations performed on the predetermined loaded machine 200 during the loading operation on the predetermined loaded machine 200. Thus, the height of the excavated material loaded on the bucket 201 can be made uniform.

[0164] The following modified examples also fall within the scope of the present invention, and it is also possible to combine the configuration shown in the modified examples with the configuration described in the above embodiment, or to combine the configurations described in the above different embodiments with each other, or to combine the configurations described in the following different modified examples with each other.

[0165] <Variation 1>

[0166] In the above embodiment, the following example is described: after the excavation operation is completed, the operator operates the control trigger switch 24, thereby starting the loading control of the automatic loading operation. However, the present invention can also be applied to the hydraulic excavator 1 that automatically transfers from the excavation operation to the loading operation without the operator's operation. For example, the control device 40 can also be provided with an excavation end judgment unit that judges whether the excavation control of the automatic excavation operation has been completed, and generates a loading control start instruction when it is judged that the excavation control has been completed. In this case, if the loading control start instruction is input to the bucket passing position judgment unit 43, the unloading trajectory generation unit 44, and the target action calculation unit 45, the loading control is started.

[0167] In addition, various methods can be used to determine the end of excavation control. For example, the control device 40, 40B determines that the excavation control is ended when there is excavation in the bucket 10 and the working device 2 is in a predetermined excavation completion posture. In addition, the control device 40, 40B may determine that the excavation control is ended when there is excavation in the bucket 10 and the action command to the hydraulic actuator for the excavation operation is not output. Whether there is excavation in the bucket 10 can be determined based on the mass of the transported object obtained by the transported object information acquisition device 55B described in the second embodiment.

[0168] <Variation 2>

[0169] The first embodiment describes an example in which, in the unloading control after the side passes, the control device 40 does not perform the rotation action of the upper rotating body 7, but only operates the working device 2, thereby moving the front end of the boom 9 along the unloading trajectory T1. However, the present invention is not limited to this. It is also possible that, in the unloading control after the side passes, the control device 40 performs the rotation action of the upper rotating body 7. At least, the rotation action angle of the upper rotating body 7 in the unloading control after the side passes is smaller than the rotation action angle of the upper rotating body 7 in the unloading control after the rear end passes.

[0170] <Variation 3>

[0171] In the above embodiment, the tank position acquisition device that acquires the position information of the bucket (tank) 201 of the loaded machine 200 relative to the hydraulic excavator 1 is described as an example of the object position detection device 54, but the present invention is not limited to this.

[0172] The container position acquisition device may also be configured to acquire the position information of the container 201 of the loaded machine 200 acquired by a server such as a management office via a communication device at the work site. The control device 40 acquires the position coordinates (Xg, Yg, Zg) and orientation of the container 201 of the loaded machine 200 in the earth coordinate system via the communication device. The control device 40 acquires the position coordinates (Xg, Yg, Zg) and orientation (orientation) of the hydraulic excavator 1 in the earth coordinate system from a positioning device including a GNSS (Global Navigation Satellite System) antenna installed on the hydraulic excavator 1. The control device 40 may also convert the position coordinates of the container 201 and the hydraulic excavator 1 in the earth coordinate system into the position coordinates (X, Y, Z) in the excavator reference coordinate system of the hydraulic excavator 1. In addition, in this modified example, an example in which the container position acquisition device acquires the position coordinates based on the earth coordinate system is described, but the position coordinates of the coordinate system (local coordinate system) based on the site reference may also be acquired.

[0173] <Variation 4>

[0174] In the above embodiment, an example is described in which the tip of the arm 9 is set as the control point CP of the working device 2 , but the present invention is not limited thereto. For example, the tip of the bucket 10 may be set as the control point CP of the working device 2 .

[0175] <Variant 5>

[0176] In the above embodiment, an example is described in which the control device 40, 40B generates the soil unloading trajectory T1 and controls the action of each hydraulic actuator in such a manner that the front end of the boom 9 moves along the soil unloading trajectory T1. However, the present invention is not limited to this. The control device 40, 40B may also set a lower limit value within the range from the soil unloading start position P1 to the soil unloading completion position P2 to control the action of each hydraulic actuator in such a manner that the front end of the boom 9 does not fall below the lower limit value.

[0177] <Variant 6>

[0178] In the above embodiment, the example in which the container for loading the excavated material excavated by the working device 2 is the cargo box 201 of the transport vehicle is described, but the present invention is not limited to this and can also be applied to the case where the excavated material is loaded into the container placed on the conveyor.

[0179] <Variant 7>

[0180] In the above embodiment, a backhoe excavator with a bucket 10 mounted at the front end of the arm 9 facing rearward is described as an example of a working machine, but the present invention is not limited thereto. The working machine may be an excavator loader with a bucket 10 mounted at the front end of the arm 9 facing forward.

[0181] As mentioned above, although the embodiment of the present invention was described, the above embodiment merely shows a part of application examples of the present invention, and it is not intended that the technical scope of the present invention is limited to the specific configuration of the above embodiment.

[0182] Description of Reference Numerals

[0183] 1…Hydraulic excavator (working machine), 2…Working device, 3…Car body (machine body), 5…Lower travel body, 6…Swing hydraulic motor (hydraulic actuator), 7…Upper swing body, 8…Boom, 9…Arm, 10…Bucket, 11…Boom cylinder (hydraulic cylinder, hydraulic actuator), 12…Arm cylinder (hydraulic cylinder, hydraulic actuator), 13…Bucket cylinder (hydraulic cylinder, hydraulic actuator), 14…Boom angle sensor (posture sensor), 15…Arm angle sensor (posture sensor), 17…Bucket Angle sensor (posture sensor), 18... Tilt angle sensor (posture sensor), 19... Swing angle sensor (posture sensor), 20, 21... Operating device, 24... Control trigger switch, 40, 40B... Control device, 41... Posture calculation unit, 42... Loaded machine position calculation unit, 43... Bucket passing position judgment unit, 44... Unloading trajectory generation unit, 45... Target action calculation unit, 46... Valve control unit, 47... Actuator control unit, 48B... Unloading execution times calculation unit, 50... Hydraulic drive dynamic system, 51... electromagnetic proportional valve, 52... operation amount sensor, 53... posture detection device, 54... object position detection device (cargo box position acquisition device), 55B... transported object information acquisition device, 56... operation detection device, 57... input device, 71... cab, 100... pilot line, 101... flow control valve, 102... main pump, 103... engine, 104... pilot pump, 200... loaded machine, 201... cargo box (cargo box), 202... side, 202f... side of the front side (end edge) , 202l…the side on the left side (end edge), 202r…the side on the right side (end edge), 203…the bottom, 205…the rear end (end edge), CL…the center line of the cargo box, CP…the control point of the working device (the front end of the boom), P1…the starting position for unloading (the starting position for releasing), P2…the completing position for unloading (the completing position for releasing), P3…the starting position for loading, P4…the interference prevention position, T1…the unloading trajectory (the target trajectory), γ…the angle of the bucket to the ground, γc…the completing angle for unloading (the completing angle for releasing).

Claims

1. A working machine having: Traveling body; A rotating body arranged to be rotatable relative to the traveling body; A working device installed on the swing body and having a boom, an arm and a bucket; a posture detection device for detecting the postures of the rotating body and the working device; A cargo box position acquisition device for acquiring position information of a cargo box of a loaded machine, wherein the loaded machine is loaded with excavated objects excavated by the working device; and a control device for controlling the movement of the working device and the rotating body, The working machine is characterized in that The control device is configured as follows: Based on the position information of the cargo box acquired by the cargo box position acquisition device at the position where the excavation action is completed, a release start position, which is a position where the release action of the excavated object above the cargo box is started, and a release completion position, which is a position where the release action is completed, are set side by side in a direction having a front-rear direction component of the cargo box. Based on the postures of the working device and the rotating body detected by the posture detection device, the movement of at least one of the working device and the rotating body is controlled, thereby moving the control point of the working device from the release start position to the release completion position, The operation of the working device is controlled so that the ground angle of the bucket becomes a preset releasing completion angle while the control point of the working device moves from the releasing start position to the releasing completion position.

2. The working machine according to claim 1, characterized in that: The control device determines: the end edge of the cargo box through which the bucket passes during the process of rotating the rotating body in the direction of moving the control point of the working device toward the cargo box based on the position information of the cargo box and the release start position, thereby moving the control point of the working device to the release start position, and based on the judgment result, determines: whether to cause the rotating body to rotate during the process of moving the control point of the working device from the release start position to the release completion position.

3. The working machine according to claim 1, characterized in that: The control device is configured as follows: If a loading control start instruction is input, the position of the control point of the working device at that time is set as the loading start position. executing a transport control for moving a control point of the working device from the loading start position to the unloading start position, If the loading control start indication is input, it is judged that: based on the position information of the cargo box and the release start position, the rotating body is rotated in the direction of making the control point of the working device approach the cargo box, thereby moving the control point of the working device to the release start position, the end edge of the cargo box through which the bucket passes, and based on the judgment result, the lower limit value of the height of the control point of the working device when passing through the end edge is calculated.

4. The working machine according to claim 3, characterized in that: The control point of the working device is the front end of the boom. The control device determines, based on the determination result, whether to lower the control point of the working device in the process of moving the control point of the working device to the release start position after the bucket passes through the end edge of the tank.

5. The working machine according to claim 1, characterized in that: The control device is configured as follows: generating a target trajectory of the control point of the working device from the release start position to the release completion position, At least one of the revolving body and the working device is operated so that a control point of the working device moves along the target trajectory.

6. The working machine according to claim 5, characterized in that: The target trajectory is a straight line.

7. The working machine according to claim 1, characterized in that: The control device changes at least one of the discharge start position and the discharge completion position in accordance with the number of times the discharge operation is performed on the predetermined loaded machine during the loading operation on the predetermined loaded machine.

8. The working machine according to claim 7, characterized in that: The loaded machine is a transport vehicle having a traveling device. The control device makes the planar position of the release start position approach the rear end portion of the container as the number of the release actions increases.

9. The working machine according to claim 7, characterized in that: The loaded machine is a transport vehicle having a traveling device. The control device increases the height of the releasing completion position as the number of times the releasing operation increases.

10. The working machine according to claim 1, characterized in that: When the control device moves the control point of the working device from the releasing start position to the releasing completion position, the control device increases the angular velocity of the unloading operation of the bucket as the control point of the working device approaches the releasing completion position.

11. The working machine according to claim 1, characterized in that: The control device controls the working device in such a manner that the arm releasing action, the boom lowering action, and the bucket unloading action are performed without retracting the boom during a period when the control point of the working device moves from the releasing start position to the releasing completion position.

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